相关论文: iMatching: Imperative Correspondence Learning

Predictive models have been at the core of many robotic systems, from quadrotors to walking robots. However, it has been challenging to develop and apply such models to practical robotic manipulation due to high-dimensional sensory…

The emergence of in-context learning (ICL) enables large pre-trained language models (PLMs) to make predictions for unseen inputs without updating parameters. Despite its potential, ICL's effectiveness heavily relies on the quality,…

Multi-view depth estimation plays a critical role in reconstructing and understanding the 3D world. Recent learning-based methods have made significant progress in it. However, multi-view depth estimation is fundamentally a…

Visual place recognition is a critical task in computer vision, especially for localization and navigation systems. Existing methods often rely on contrastive learning: image descriptors are trained to have small distance for similar images…

The scarcity of labeled data in real-world scenarios is a critical bottleneck of deep learning's effectiveness. Semi-supervised semantic segmentation has been a typical solution to achieve a desirable tradeoff between annotation cost and…

Incremental Learning (IL) is useful when artificial systems need to deal with streams of data and do not have access to all data at all times. The most challenging setting requires a constant complexity of the deep model and an incremental…

We tackle the problem of finding accurate and robust keypoint correspondences between images. We propose a learning-based approach to guide local feature matches via a learned approximate image matching. Our approach can boost the results…

Imitation learning (IL) is a popular paradigm for training policies in robotic systems when specifying the reward function is difficult. However, despite the success of IL algorithms, they impose the somewhat unrealistic requirement that…

In continual learning (CL), a learner is faced with a sequence of tasks, arriving one after the other, and the goal is to remember all the tasks once the continual learning experience is finished. The prior art in CL uses episodic memory,…

Instance-level Image Retrieval (IIR), or simply Instance Retrieval, deals with the problem of finding all the images within an dataset that contain a query instance (e.g. an object). This paper makes the first attempt that tackles this…

Imitation learning (IL) has achieved considerable success in solving complex sequential decision-making problems. However, current IL methods mainly assume that the environment for learning policies is the same as the environment for…

Deep learning became the game changer for image retrieval soon after it was introduced. It promotes the feature extraction (by representation learning) as the core of image retrieval, with the relevance/matching evaluation being degenerated…

In this paper we explore using self-supervised correspondence for improving the generalization performance and sample efficiency of visuomotor policy learning. Prior work has primarily used approaches such as autoencoding, pose-based…

Contrastive language-image pretraining (CLIP) has demonstrated remarkable success in various image tasks. However, how to extend CLIP with effective temporal modeling is still an open and crucial problem. Existing factorized or joint…

Instruction-following is a foundational capability of large language models (LLMs), with its improvement hinging on scalable and accurate feedback from judge models. However, the reliability of current judge models in instruction-following…

In-context learning (ICL) allows some autoregressive models to solve tasks via next-token prediction and without needing further training. This has led to claims about these model's ability to solve (learn) unseen tasks with only a few…

In-context learning (ICL) allows large models to adapt to tasks using a few examples, yet its extension to vision-language models (VLMs) remains fragile. Our analysis reveals that the fundamental limitation lies in an inductive gap, models…

Incremental Learning (IL) aims to learn new tasks while preserving previously acquired knowledge. Integrating the zero-shot learning capabilities of pre-trained vision-language models into IL methods has marked a significant advancement.…

Understanding user interface (UI) functionality is a useful yet challenging task for both machines and people. In this paper, we investigate a machine learning approach for screen correspondence, which allows reasoning about UIs by mapping…

Large language models (LLMs) excel at few-shot in-context learning (ICL) -- learning from a few examples provided in context at inference, without any weight updates. Newly expanded context windows allow us to investigate ICL with hundreds…